Angular Sensor Delay Compensation Filter for Real-Time Position Accuracy
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Solution Overview
Problem
Existing digital encoders for manufacturing robots face challenges in providing accurate angle position measurements due to propagation delay in signal processing, leading to instability and limited dynamic range.
Innovation Solution
A propagation delay compensation and interpolation filter system is introduced, comprising a position sensor, signal processor, and low-pass filters to calculate speed and acceleration signals, thereby compensating for propagation delay and providing accurate angle position measurements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a parallel two filter circuit with feedback loop is used to compensate propagation delay, then propagation delay compensation is achieved, but system stability deteriorates and dynamic range is limited
Solution Approach 1:
The patent extracts the propagation delay compensation function from the traditional feedback loop architecture and implements it as a standalone delay compensation filter. This separates the compensation function from the main control loop, eliminating the stability issues caused by feedback while maintaining compensation effectiveness across a wider dynamic range
Solution Approach 2:
The patent segments the signal processing into distinct functional blocks: a delay compensation filter that processes the position signal independently, and separate speed/acceleration calculation blocks. This segmentation allows each block to be optimized independently, improving overall system stability while maintaining measurement precision
2Measurement precision
If propagation delay compensation is implemented using traditional methods, then angle position accuracy is improved, but the solution is limited to small dynamic range
Solution Approach 1:
The patent implements a dynamic delay compensation filter that adapts to varying operating conditions. The filter uses the calculated speed and acceleration signals to dynamically adjust its compensation output, enabling it to maintain accuracy across a wide dynamic range rather than being limited to small, fixed-range compensation
3Loss of information
If signal processing is performed to generate angle position signals, then position information is obtained, but propagation time delay causes inaccurate angle position relative to real time
Solution Approach 1:
The patent applies preliminary action by calculating speed and acceleration signals in advance from the position signal, then using these pre-calculated signals in the delay compensation filter to predict and correct the propagation delay effect. This allows the system to compensate for delay proactively rather than reactively, maintaining real-time accuracy
Data Source
AI summary
Measurement systems, methods for operating an angular sensor interface, and angular sensor interfaces. The measurement system includes a position sensor, a signal processor, and a propagation delay compensation filter. The position sensor is configured to generate analog signals. The signal processor is configured to generate position signals from the analog signals. The propagation delay compensation filter is configured to generate low-pass filtered position signals from the position signals, and calculate speed signals from the low-pass filtered position signals. The propagation delay compensation filter is further configured to generate low-pass filtered speed signals from the speed signals, and calculate acceleration signals from the low-pass filtered speed signals. The propagation delay compensation filter is further configured to generate low-pass filtered acceleration signals from the acceleration signals. The propagation delay compensation filter is also configured to produce compensated angular position signals from the low-pass filtered speed and acceleration signals.